FUNCTION_BLOCK SMC_Interpolator2Dir_SlowTask
This FB is used for generating the reversed-path. It has been split off from SMC_Interpolator2Dir in order to be called from a task with lower priority.
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InOut:
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Scope
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Name
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Type
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Initial
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Comment
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Inout
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ipo2d
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SMC_Interpolator2Dir
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SMC_Interpolator2Dir-instance.
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Input
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dAngleTol
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LREAL
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0
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Angle tolerance for backward path. Typically the same as angle tolerance of SMC_CheckVelocities.
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nSizeOutQueue
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UDINT
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This variable contains the size of the data buffer the backward path shall be stored in. This buffer must be large enough to hold the complete path.
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pbyBufferOutQueue
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POINTER TO BYTE
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Pointer to the first byte of the memory area that is allocated for the backward path.
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